Not OP but: High quality mats inside and outside every entrance to the house/apartment. I use a stiff bristle mat outside and a softer/more absorbent mat inside.

It's not that nasty if you have non-carpeted floors and a swiffer. Living somewhere warmer (no salt, snow, etc.) helps too.

I don't have orthopedic problems, but I've found that I'm generally more comfortable by the end of the day if I'm wearing shoes at home vs barefoot or slippers. This is especially true if I spend a few hours in the kitchen standing up to cook, etc.

Additionally, where I grew up it's odd/rude for a visitor to remove their shoes or be asked to remove their shoes. Different strokes and all that. :)

Curious where you grew up, because I've noticed lately (since we stopped wearing shoes in the house), that almost all our visitors -- no matter what their ethnicity or place of origin -- tend to either volunteer to remove theirs or tell us they also don't wear shoes indoors.